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Reverse Engineering Workbench

Sketcher Workbench

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Introduction

The Robot Workbench is a tool to simulate a standard 6-axis industrial robot, like Kuka.

You can do the following tasks:

• Set up a simulation environment with a robot and work pieces.
• Create and fill up movement trajectories.
• Decompose features of a CAD part to a trajectory.
• Simulate the robot movement and reaching distance.
• Export the trajectory to a robot program file.

To get started try the Robot tutorial, and see the programming interface in the RobotExample.py example file.

Tools

Robot toolbar

• Place Robot: Places a robot in the model.

• Trajectory: Creates an empty trajectory.

• Insert in Trajectory: Inserts a robot tool position into a trajectory.

• Insert in Trajectory (vertex): Inserts a preselected position into a trajectory.

• Edge to Trajectory: Generates a trajectory from selected edges.

• Dress-Up Trajectory: Creates a dress-up object that overrides aspects of a trajectory.

• Trajectory Compound: Groups and connects multiple trajectories into one.

• Set Home Position: Sets the home position of a robot.

• Move to Home: Moves a robot to its home position.

• Simulate Trajectory: Simulates robot movement along a selected trajectory.

Other tools

• Insert Robot:

• Tool: Adds a tool shape to a robot.

• Set Default Orientation: Sets the default orientation for subsequent waypoint creation.

• Set Default Values: Sets the default values for speed, acceleration, and continuity for subsequent waypoint creation.

• Export Trajectory:

• Kuka Compact Subroutine: Exports a trajectory as a compact KRL subroutine.

• Kuka Full Subroutine: Exports a trajectory as a full KRL subroutine.

Scripting

See the Robot API example for a description of the functions used to model the robot displacements.

Tutorials

• Robot 6-Axis
• VRML Preparation for Robot Simulation

Reverse Engineering Workbench

Sketcher Workbench

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